Modeling, Guidance, and Robust Cooperative Control of Two Quadrotors Carrying a “Y”-Shaped-Cable-Suspended Payload
This paper investigates the problem of cooperative payload delivery by two quadrotors with a novel “Y”-shaped cable that improves payload carrying and dropping efficiency. Compared with the existing “V”-shaped suspension, the proposed suspension method adds another payload swing degree of freedom to...
| Main Authors: | , , , , , |
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| Format: | Article |
| Language: | English |
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MDPI AG
2024-03-01
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| Series: | Drones |
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| Online Access: | https://www.mdpi.com/2504-446X/8/3/103 |
| _version_ | 1797241394406883328 |
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| author | Erquan Wang Jinyang Sun Yuanyuan Liang Boyu Zhou Fangfei Jiang Yang Zhu |
| author_facet | Erquan Wang Jinyang Sun Yuanyuan Liang Boyu Zhou Fangfei Jiang Yang Zhu |
| author_sort | Erquan Wang |
| collection | DOAJ |
| description | This paper investigates the problem of cooperative payload delivery by two quadrotors with a novel “Y”-shaped cable that improves payload carrying and dropping efficiency. Compared with the existing “V”-shaped suspension, the proposed suspension method adds another payload swing degree of freedom to the quadrotor–payload system, making the modeling and control of such a system more challenging. In the modeling, the payload swing motion is decomposed into a forward–backward process and a lateral process, and the swing motion is then transmitted to the dynamics of the two quadrotors by converting it into disturbance cable pulling forces. A novel guidance and control framework is proposed, where a guidance law is designed to not only achieve formation transformation but also generate a local reference for the quadrotor, which does not have access to the global reference, based on which a cooperative controller is developed by incorporating an uncertainty and disturbance estimator to actively compensate for payload swing disturbance to achieve the desired formation trajectory tracking performance. A singular perturbation theory-based analysis shows that the proposed parameter mapping method, which unifies the parameter tuning of different control channels, allows us to tune a single parameter, <inline-formula><math xmlns="http://www.w3.org/1998/Math/MathML" display="inline"><semantics><mi>ε</mi></semantics></math></inline-formula>, to quantitatively enhance both the formation control performance and system robustness. Simulation results verify the effectiveness of the proposed approach in different scenarios. |
| first_indexed | 2024-04-24T18:22:38Z |
| format | Article |
| id | doaj.art-abace3d1f8374645aaf7859ba50d1fb0 |
| institution | Directory Open Access Journal |
| issn | 2504-446X |
| language | English |
| last_indexed | 2024-04-24T18:22:38Z |
| publishDate | 2024-03-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Drones |
| spelling | doaj.art-abace3d1f8374645aaf7859ba50d1fb02024-03-27T13:33:59ZengMDPI AGDrones2504-446X2024-03-018310310.3390/drones8030103Modeling, Guidance, and Robust Cooperative Control of Two Quadrotors Carrying a “Y”-Shaped-Cable-Suspended PayloadErquan Wang0Jinyang Sun1Yuanyuan Liang2Boyu Zhou3Fangfei Jiang4Yang Zhu5School of Information Science and Technology, Southwest Jiaotong University, Chengdu 611756, ChinaSchool of Information Science and Technology, Southwest Jiaotong University, Chengdu 611756, ChinaSchool of Information Science and Technology, Southwest Jiaotong University, Chengdu 611756, ChinaSchool of Information Science and Technology, Southwest Jiaotong University, Chengdu 611756, ChinaSchool of Information Science and Technology, Southwest Jiaotong University, Chengdu 611756, ChinaSchool of Information Science and Technology, Southwest Jiaotong University, Chengdu 611756, ChinaThis paper investigates the problem of cooperative payload delivery by two quadrotors with a novel “Y”-shaped cable that improves payload carrying and dropping efficiency. Compared with the existing “V”-shaped suspension, the proposed suspension method adds another payload swing degree of freedom to the quadrotor–payload system, making the modeling and control of such a system more challenging. In the modeling, the payload swing motion is decomposed into a forward–backward process and a lateral process, and the swing motion is then transmitted to the dynamics of the two quadrotors by converting it into disturbance cable pulling forces. A novel guidance and control framework is proposed, where a guidance law is designed to not only achieve formation transformation but also generate a local reference for the quadrotor, which does not have access to the global reference, based on which a cooperative controller is developed by incorporating an uncertainty and disturbance estimator to actively compensate for payload swing disturbance to achieve the desired formation trajectory tracking performance. A singular perturbation theory-based analysis shows that the proposed parameter mapping method, which unifies the parameter tuning of different control channels, allows us to tune a single parameter, <inline-formula><math xmlns="http://www.w3.org/1998/Math/MathML" display="inline"><semantics><mi>ε</mi></semantics></math></inline-formula>, to quantitatively enhance both the formation control performance and system robustness. Simulation results verify the effectiveness of the proposed approach in different scenarios.https://www.mdpi.com/2504-446X/8/3/103cooperative aerial transportationsuspended payload swing modelingguidance lawcooperative formation controldisturbance rejection |
| spellingShingle | Erquan Wang Jinyang Sun Yuanyuan Liang Boyu Zhou Fangfei Jiang Yang Zhu Modeling, Guidance, and Robust Cooperative Control of Two Quadrotors Carrying a “Y”-Shaped-Cable-Suspended Payload Drones cooperative aerial transportation suspended payload swing modeling guidance law cooperative formation control disturbance rejection |
| title | Modeling, Guidance, and Robust Cooperative Control of Two Quadrotors Carrying a “Y”-Shaped-Cable-Suspended Payload |
| title_full | Modeling, Guidance, and Robust Cooperative Control of Two Quadrotors Carrying a “Y”-Shaped-Cable-Suspended Payload |
| title_fullStr | Modeling, Guidance, and Robust Cooperative Control of Two Quadrotors Carrying a “Y”-Shaped-Cable-Suspended Payload |
| title_full_unstemmed | Modeling, Guidance, and Robust Cooperative Control of Two Quadrotors Carrying a “Y”-Shaped-Cable-Suspended Payload |
| title_short | Modeling, Guidance, and Robust Cooperative Control of Two Quadrotors Carrying a “Y”-Shaped-Cable-Suspended Payload |
| title_sort | modeling guidance and robust cooperative control of two quadrotors carrying a y shaped cable suspended payload |
| topic | cooperative aerial transportation suspended payload swing modeling guidance law cooperative formation control disturbance rejection |
| url | https://www.mdpi.com/2504-446X/8/3/103 |
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